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Zbl 0948.93056
Lin, W.; Qian, C.
Adding one power integrator: a tool for global stabilization of high-order lower-triangular systems. (English)
[J] Syst. Control Lett. 39, No.5, 339-351 (2000). ISSN 0167-6911

Summary: A new feedback design tool called ``adding a power integrator'' is introduced and used to solve the problem of global robust stabilization, for a significant class of uncertain nonlinear systems that are of a lower-triangular form but neither necessarily feedback linearizable (fully or partially) nor affine in the control input, and therefore cannot be dealt with via conventional approaches. Sufficient conditions are presented under which a globally stabilizing smooth state feedback control law can be explicitly constructed, using repeatedly the ``adding one power integrator'' technique. This novel design technique permits removal of the feedback linearizability and linearity of the control input, which have been two common assumptions so far in the literature of nonlinear control.

MSC 2000:: *93D21 Adaptive and robust stabilization
93C10 Nonlinear control systems
93D15 Stabilization of systems by feedback

Keywords: adding a power integrator; smooth state feedback; global stabilization; lower-triangular structure; uncontrollable linearization; high-order systems; nonaffine systems; feedback linearizability; nonlinear control

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